Functions — github.com/aaronzguan/Sampling-based-Planning-for-Robot-Arm

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Functions95 in github.com/aaronzguan/Sampling-based-Planning-for-Robot-Arm

⨍ Functions 95 ◇ Types & classes 13

↓ 11 callersMethodget_point

(self, node_id)

prm.py:33

↓ 11 callersMethodget_point

(self, node_id)

ob_prm.py:34

↓ 5 callersMethodjacobian

Calculate the jacobians analytically using your forward kinematics Arguments: array of joint positions (rad) Returns: A numpy

franka_robot.py:163

↓ 4 callersMethod_is_seg_valid

Check if the edge between q0 and q1 is collision free by interpolating the segment

prm.py:74

↓ 4 callersMethod_is_seg_valid

Check if the edge between q0 and q1 is collision free by interpolating the segment

ob_prm.py:84

↓ 4 callersMethodee

Arguments: array of joint positions (rad) Returns: A numpy array that contains the [x, y, z, roll, pitch, yaw] location of the end-ef

franka_robot.py:148

↓ 4 callersMethodfind_nearest_point

Find the point in the tree that minimizes the distance to the query. Args: query (:obj:`tuple` of float or int): Stores the posit

kdtree.py:175

↓ 4 callersMethodget_node

(self, node_id)

kdtree.py:85

↓ 4 callersMethodinsert

Insert a new node in the tree. Args: point (:obj:`tuple` of float or int): Stores the position of the node.

kdtree.py:105

↓ 3 callersMethodadd_edge

(self, node_id, neighbor_id)

prm.py:26

↓ 3 callersMethodadd_edge

(self, node_id, neighbor_id)

ob_prm.py:27

↓ 3 callersMethodconstrained_extend

TODO: Implement extend for RRT Connect - Only perform self.project_to_constraint if constraint is not None - Use self._is_seg

rrt_connect.py:79

↓ 3 callersMethodconstruct_path_to_root

(self, leaf_node_id)

rrt_connect.py:32

↓ 3 callersMethodforward_kinematics

Calculate the position of each joint using the dh_params Arguments: array of joint positions (rad) Returns: A numpy array tha

franka_robot.py:111

↓ 3 callersMethodget_collision_boxes_poses

(self, joints)

franka_robot.py:300

↓ 3 callersMethodget_neighbor_within_radius

Return a list of node_id within the radius

prm.py:39

↓ 3 callersMethodget_neighbor_within_radius

Return a list of node_id within the radius

ob_prm.py:40

↓ 3 callersMethodget_parent

(self, child_id)

prm.py:30

↓ 3 callersMethodget_parent

(self, child_id)

ob_prm.py:31

↓ 3 callersMethodget_point

(self, node_id)

rrt_connect.py:26

↓ 3 callersMethodinsert_new_node

(self, point)

prm.py:22

↓ 3 callersMethodinsert_new_node

(self, point)

ob_prm.py:23

↓ 3 callersMethodinsert_new_node

(self, point, parent=None)

rrt_connect.py:17

↓ 2 callersMethodfind_points_within_radius

(self, query, radius, dist_fun=euclidean_dist)

kdtree.py:205

↓ 2 callersMethodgetDistance

(self, p)

rrt_connect.py:105

↓ 2 callersMethodget_nearest_node

(self, point)

rrt_connect.py:29

↓ 2 callersMethodget_point

(self, node_id)

rrt.py:23

↓ 2 callersMethodinsert_new_node

(self, point, parent=None)

rrt.py:14

↓ 2 callersFunctioninterval_condition

Checks if value belongs to the interval [inf - dist, sup + dist].

kdtree.py:17

↓ 2 callersMethodnew_node

(self, point, region, axis, data)

kdtree.py:163

↓ 2 callersMethodplan

(self, q_start, q_target, constraint=None, args=None)

prm.py:201

↓ 2 callersMethodpublish_boxes

(self, boxes)

collision_boxes_publisher.py:11

↓ 1 callersMethod_is_seg_valid

(self, q0, q1)

rrt_connect.py:72

↓ 1 callersMethodcheck_box_collision

Arguments: joints represents the current location of the robot box contains the position of the center of the box [x, y, z

franka_robot.py:242

↓ 1 callersMethodcheck_self_collision

Arguments: joints represents the current location of the robot Returns: A boolean where True means the arm has self-collision and fal

franka_robot.py:201

↓ 1 callersMethodextend

TODO: Implement the constraint extend function. Input: tree - a SimpleTree object containing existing nodes

rrt.py:95

↓ 1 callersMethodget_nearest_node

(self, point)

rrt.py:26

↓ 1 callersMethodget_parent

(self, child_id)

rrt.py:20

↓ 1 callersMethodget_parent

(self, child_id)

rrt_connect.py:23

↓ 1 callersFunctionget_plan_quality

(plan)

plan.py:128

↓ 1 callersFunctionnearest_point

Find the point in the tree that minimizes the distance to the query. This method implements the nearest_point query for any structure impleme

kdtree.py:267

↓ 1 callersFunctionneighbor_within_radius

(query, radius, root_id, get_properties, dist_fun=euclidean_dist)

kdtree.py:211

↓ 1 callersMethodpreprocess

(self, graph, constraint=None)

prm.py:93

↓ 1 callersMethodpreprocess

(self, graph, constraint=None)

ob_prm.py:103

↓ 1 callersMethodproject_to_constraint

(self, q0, constraint)

prm.py:84

↓ 1 callersMethodproject_to_constraint

TODO: Implement projecting a configuration to satisfy a constraint function using gradient descent. Please use the following paramet

rrt.py:65

↓ 1 callersMethodproject_to_constraint

(self, q0, constraint)

ob_prm.py:94

↓ 1 callersMethodproject_to_constraint

(self, q0, constraint)

rrt_connect.py:63

↓ 1 callersMethodpublish_collision_boxes

(self, joints)

franka_robot.py:311

↓ 1 callersMethodpublish_joints

(self, joints)

franka_robot.py:289

↓ 1 callersMethodsample_near_joints

(self, q)

ob_prm.py:76

↓ 1 callersMethodsample_valid_joints

The sampled configuration must be within the joint limits, but it does not check for collisions.

prm.py:67

↓ 1 callersMethodsample_valid_joints

TODO: Implement sampling a random valid configuration. The sampled configuration must be within the joint limits, but it does not ch

rrt.py:50

↓ 1 callersMethodsample_valid_joints

The sampled configuration must be within the joint limits, but it does not check for collisions.

ob_prm.py:69

↓ 1 callersMethodsample_valid_joints

(self)

rrt_connect.py:58

↓ 1 callersMethodsearch

(self, graph)

prm.py:143

↓ 1 callersMethodsearch

(self, graph)

ob_prm.py:166

↓ 1 callersMethodsmoothPath

(self, path, constraint)

rrt_connect.py:113

↓ 1 callersMethodsmooth_path

(self, path)

prm.py:118

↓ 1 callersMethodsmooth_path

collision_boxes_publisher.py:8

Method__init__

(self, dim, capacity=100000)

(self, fr, is_in_collision)

(self, k=2, capacity=100000, limits=None)

(self, fr, is_in_collision)

rrt.py:32

Method__init__

(self, dim, capacity=100000)

(self, fr, is_in_collision)

(self, fr, is_in_collision)

Deactivate the node identified by node_id. Deactivates the node corresponding to node_id, which means that it can never be the output

kdtree.py:88

Functionee_upright_constraint

TODO: Implement constraint function and its gradient. This constraint should enforce the end-effector stays upright. Hint: U

plan.py:109

Functioneuclidean_dist

(graph, cur_id, target_id, use_heur=False)

prm.py:145

Methodget_heuristic

(graph, cur_id, target_id, use_heur=False)

ob_prm.py:168

Methodget_nearest_node

(self, point)

prm.py:36

Methodget_nearest_node

Methodinverse_kinematics

Arguments: desired_ee_pos which is a np array of [x, y, z, r, p, y] which represent the desired end-effector position of the robot

franka_robot.py:181

Functionis_in_collision

(joints)

plan.py:97

Methodplan

(self, q_start, q_target, constraint=None)

rrt.py:145

Methodplan

(self, q_start, q_target, constraint=None, args=None)

ob_prm.py:225

Methodplan

(self, q_start, q_target, constraint=None)